Self-tuning Fuzzy Control of Robot Hand

Yu Che; Yuan Kui; Yu Datai; Huang Xiaobin

doi:10.13374/j.issn1001-053x.1998.03.046

Volume 20 Issue 3

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Article Navigation > Chinese Journal of Engineering > 1998 > 20(3): 286-290

Yu Che, Yuan Kui, Yu Datai, Huang Xiaobin. Self-tuning Fuzzy Control of Robot Hand[J]. Chinese Journal of Engineering, 1998, 20(3): 286-290. doi: 10.13374/j.issn1001-053x.1998.03.046

Citation:

Yu Che, Yuan Kui, Yu Datai, Huang Xiaobin. Self-tuning Fuzzy Control of Robot Hand[J]. Chinese Journal of Engineering, 1998, 20(3): 286-290. doi: 10.13374/j.issn1001-053x.1998.03.046

Yu Che, Yuan Kui, Yu Datai, Huang Xiaobin. Self-tuning Fuzzy Control of Robot Hand[J]. Chinese Journal of Engineering, 1998, 20(3): 286-290. doi: 10.13374/j.issn1001-053x.1998.03.046

Citation:

Yu Che, Yuan Kui, Yu Datai, Huang Xiaobin. Self-tuning Fuzzy Control of Robot Hand[J]. Chinese Journal of Engineering, 1998, 20(3): 286-290. doi: 10.13374/j.issn1001-053x.1998.03.046

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Self-tuning Fuzzy Control of Robot Hand

doi: 10.13374/j.issn1001-053x.1998.03.046

1. Information Engineering School, UST Beijing, Beijing 100083, China;
2. The Automation Dept(No.8 Dept) of Metallurgical Equipment Co of China, Beijing 100711

Received Date: 1997-10-31
Available Online: 2021-08-27

Abstract

Abstract

Applying self-tuning fuzzy control on USTB(University of Science and Technogoly Beijing) double thumb hand, adjusting fuzzy control parameters and control rules, fast respond time and no overshooting control of grasp force is obtained. Adopting grade control, an unkown mass object is grasped stably. Experimental results confirm that self-tuning fuzzy control has better effect than ordinary fuzzy control.
- self-tuning fuzzy control,
- ordinary fuzzy control,
- no overshooting control of grasp force,
- grade control